OpenRaiser/Intern-Atlas huggingface dataset:
miniLB: A Performance Portability Study of Lattice-Boltzmann Simulations
Venue: arXiv cs.DC 2024
Year: 2024

The Lattice Boltzmann Method (LBM) is a computational technique of Computational Fluid Dynamics (CFD) that has gained popularity due to its high parallelism and ability to handle complex geometries with minimal effort. Although LBM frameworks are increasingly important in various industries and research fields, their complexity makes them difficult to modify and can lead to suboptimal performance. This paper presents miniLB, the first, to the best of our knowledge, SYCL-based LBM mini-app.miniLB addresses the need for a performance-portable LBM proxy app capable of abstracting complex fluid dynamics simulations across heterogeneous computing systems. We analyze SYCL semantics for performance portability and evaluate miniLB on multiple GPU architectures using various SYCL implementations. Our results, compared against a manually-tuned FORTRAN version, demonstrate effectiveness of miniLB in assessing LBM performance across diverse hardware, offering valuable insights for optimizing large-scale LBM frameworks in modern computing environments.
Enhancing Feature Selection and Interpretability in AI Regression Tasks Through Feature Attribution
Venue: arXiv cs.LG 2024
Year: 2024

Research in Explainable Artificial Intelligence (XAI) is increasing, aiming to make deep learning models more transparent. Most XAI methods focus on justifying the decisions made by Artificial Intelligence (AI) systems in security-relevant applications. However, relatively little attention has been given to using these methods to improve the performance and robustness of deep learning algorithms. Additionally, much of the existing XAI work primarily addresses classification problems. In this study, we investigate the potential of feature attribution methods to filter out uninformative features in input data for regression problems, thereby improving the accuracy and stability of predictions. We introduce a feature selection pipeline that combines Integrated Gradients with k-means clustering to select an optimal set of variables from the initial data space. To validate the effectiveness of this approach, we apply it to a real-world industrial problem - blade vibration analysis in the development process of turbo machinery.
Programming of Skill-based Robots
Venue: arXiv cs.RO 2024
Year: 2024

Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the importance of software has increased drastically. Easy and fast task programming and execution in robot - sensor systems become a prerequisite for agile and flexible automation and in this paper, we propose such a system. Our solution relies on a robot skill library, which provides the user with high level and parametrized operations, i.e., robot skills, for task programming and execution. Programming actions results to a control recipe in a neutral product context and is based on use of product CAD models or alternatively collaborative use of pointers and tracking sensor with real parts. Practical tests are also reported to show the feasibility of our approach.
Limitations of (Procrustes) Alignment in Assessing Multi-Person Human Pose and Shape Estimation
Venue: arXiv cs.CV 2024
Year: 2024

We delve into the challenges of accurately estimating 3D human pose and shape in video surveillance scenarios. Beginning with the advocacy for metrics like W-MPJPE and W-PVE, which omit the (Procrustes) realignment step, to improve model evaluation, we then introduce RotAvat. This technique aims to enhance these metrics by refining the alignment of 3D meshes with the ground plane. Through qualitative comparisons, we demonstrate RotAvat's effectiveness in addressing the limitations of existing aproaches.
Revisiting Space Mission Planning: A Reinforcement Learning-Guided Approach for Multi-Debris Rendezvous
Venue: arXiv cs.LG 2024
Year: 2024

This research introduces a novel application of a masked Proximal Policy Optimization (PPO) algorithm from the field of deep reinforcement learning (RL), for determining the most efficient sequence of space debris visitation, utilizing the Lambert solver as per Izzo's adaptation for individual rendezvous. The aim is to optimize the sequence in which all the given debris should be visited to get the least total time for rendezvous for the entire mission. A neural network (NN) policy is developed, trained on simulated space missions with varying debris fields. After training, the neural network calculates approximately optimal paths using Izzo's adaptation of Lambert maneuvers. Performance is evaluated against standard heuristics in mission planning. The reinforcement learning approach demonstrates a significant improvement in planning efficiency by optimizing the sequence for debris rendezvous, reducing the total mission time by an average of approximately {10.96\%} and {13.66\%} compared to the Genetic and Greedy algorithms, respectively. The model on average identifies the most time-efficient sequence for debris visitation across various simulated scenarios with the fastest computational speed. This approach signifies a step forward in enhancing mission planning strategies for space debris clearance.
Robotic Backchanneling in Online Conversation Facilitation: A Cross-Generational Study
Venue: arXiv cs.RO 2024
Year: 2024

Japan faces many challenges related to its aging society, including increasing rates of cognitive decline in the population and a shortage of caregivers. Efforts have begun to explore solutions using artificial intelligence (AI), especially socially embodied intelligent agents and robots that can communicate with people. Yet, there has been little research on the compatibility of these agents with older adults in various everyday situations. To this end, we conducted a user study to evaluate a robot that functions as a facilitator for a group conversation protocol designed to prevent cognitive decline. We modified the robot to use backchannelling, a natural human way of speaking, to increase receptiveness of the robot and enjoyment of the group conversation experience. We conducted a cross-generational study with young adults and older adults. Qualitative analyses indicated that younger adults perceived the backchannelling version of the robot as kinder, more trustworthy, and more acceptable than the non-backchannelling robot. Finally, we found that the robot's backchannelling elicited nonverbal backchanneling in older participants.
Pruning Multilingual Large Language Models for Multilingual Inference
Venue: arXiv cs.CL 2024
Year: 2024

Multilingual large language models (MLLMs), trained on multilingual balanced data, demonstrate better zero-shot learning performance in non-English languages compared to large language models trained on English-dominant data. However, the disparity in performance between English and non-English languages remains a challenge yet to be fully addressed. A distinctive characteristic of MLLMs is their high-quality translation capabilities, indicating an acquired proficiency in aligning between languages. This study explores how to enhance the zero-shot performance of MLLMs in non-English languages by leveraging their alignment capability between English and non-English languages. To achieve this, we first analyze the behavior of MLLMs when performing translation and reveal that there are large magnitude features that play a critical role in the translation process. Inspired by these findings, we retain the weights associated with operations involving the large magnitude features and prune other weights to force MLLMs to rely on these features for tasks beyond translation. We empirically demonstrate that this pruning strategy can enhance the MLLMs' performance in non-English language.
Game4Loc: A UAV Geo-Localization Benchmark from Game Data
Venue: arXiv cs.CV 2024
Year: 2024

The vision-based geo-localization technology for UAV, serving as a secondary source of GPS information in addition to the global navigation satellite systems (GNSS), can still operate independently in the GPS-denied environment. Recent deep learning based methods attribute this as the task of image matching and retrieval. By retrieving drone-view images in geo-tagged satellite image database, approximate localization information can be obtained. However, due to high costs and privacy concerns, it is usually difficult to obtain large quantities of drone-view images from a continuous area. Existing drone-view datasets are mostly composed of small-scale aerial photography with a strong assumption that there exists a perfect one-to-one aligned reference image for any query, leaving a significant gap from the practical localization scenario. In this work, we construct a large-range contiguous area UAV geo-localization dataset named GTA-UAV, featuring multiple flight altitudes, attitudes, scenes, and targets using modern computer games. Based on this dataset, we introduce a more practical UAV geo-localization task including partial matches of cross-view paired data, and expand the image-level retrieval to the actual localization in terms of distance (meters). For the construction of drone-view and satellite-view pairs, we adopt a weight-based contrastive learning approach, which allows for effective learning while avoiding additional post-processing matching steps. Experiments demonstrate the effectiveness of our data and training method for UAV geo-localization, as well as the generalization capabilities to real-world scenarios.
Quantum-Classical Sentiment Analysis
Venue: arXiv cs.AI 2024
Year: 2024

In this study, we initially investigate the application of a hybrid classical-quantum classifier (HCQC) for sentiment analysis, comparing its performance against the classical CPLEX classifier and the Transformer architecture. Our findings indicate that while the HCQC underperforms relative to the Transformer in terms of classification accuracy, but it requires significantly less time to converge to a reasonably good approximate solution. This experiment also reveals a critical bottleneck in the HCQC, whose architecture is partially undisclosed by the D-Wave property. To address this limitation, we propose a novel algorithm based on the algebraic decomposition of QUBO models, which enhances the time the quantum processing unit can allocate to problem-solving tasks.
Performance assessment of ADAS in a representative subset of critical traffic situations
Venue: arXiv cs.RO 2024
Year: 2024

As a variety of automated collision prevention systems gain presence within personal vehicles, rating and differentiating the automated safety performance of car models has become increasingly important for consumers, manufacturers, and insurers. In 2023, Swiss Re and partners initiated an eight-month long vehicle testing campaign conducted on a recognized UNECE type approval authority and Euro NCAP accredited proving ground in Germany. The campaign exposed twelve mass-produced vehicle models and one prototype vehicle fitted with collision prevention systems to a selection of safety-critical traffic scenarios representative of United States and European Union accident landscape. In this paper, we compare and evaluate the relative safety performance of these thirteen collision prevention systems (hardware and software stack) as demonstrated by this testing campaign. We first introduce a new scoring system which represents a test system's predicted impact on overall real-world collision frequency and reduction of collision impact energy, weighted based on the real-world relevance of the test scenario. Next, we introduce a novel metric that quantifies the realism of the protocol and confirm that our test protocol is a plausible representation of real-world driving. Finally, we find that the prototype system in its pre-release state outperforms the mass-produced (post-consumer-release) vehicles in the majority of the tested scenarios on the test track.
Setting the AI Agenda -- Evidence from Sweden in the ChatGPT Era
Venue: arXiv cs.AI 2024
Year: 2024

This paper examines the development of the Artificial Intelligence (AI) meta-debate in Sweden before and after the release of ChatGPT. From the perspective of agenda-setting theory, we propose that it is an elite outside of party politics that is leading the debate -- i.e. that the politicians are relatively silent when it comes to this rapid development. We also suggest that the debate has become more substantive and risk-oriented in recent years. To investigate this claim, we draw on an original dataset of elite-level documents from the early 2010s to the present, using op-eds published in a number of leading Swedish newspapers. By conducting a qualitative content analysis of these materials, our preliminary findings lend support to the expectation that an academic, rather than a political elite is steering the debate.
Decoding Large-Language Models: A Systematic Overview of Socio-Technical Impacts, Constraints, and Emerging Questions
Venue: arXiv cs.CL 2024
Year: 2024

There have been rapid advancements in the capabilities of large language models (LLMs) in recent years, greatly revolutionizing the field of natural language processing (NLP) and artificial intelligence (AI) to understand and interact with human language. Therefore, in this work, we conduct a systematic investigation of the literature to identify the prominent themes and directions of LLM developments, impacts, and limitations. Our findings illustrate the aims, methodologies, limitations, and future directions of LLM research. It includes responsible development considerations, algorithmic improvements, ethical challenges, and societal implications of LLM development. Overall, this paper provides a rigorous and comprehensive overview of current research in LLM and identifies potential directions for future development. The article highlights the application areas that could have a positive impact on society along with the ethical considerations.
Detecting Temporal Ambiguity in Questions
Venue: arXiv cs.CL 2024
Year: 2024

Detecting and answering ambiguous questions has been a challenging task in open-domain question answering. Ambiguous questions have different answers depending on their interpretation and can take diverse forms. Temporally ambiguous questions are one of the most common types of such questions. In this paper, we introduce TEMPAMBIQA, a manually annotated temporally ambiguous QA dataset consisting of 8,162 open-domain questions derived from existing datasets. Our annotations focus on capturing temporal ambiguity to study the task of detecting temporally ambiguous questions. We propose a novel approach by using diverse search strategies based on disambiguated versions of the questions. We also introduce and test non-search, competitive baselines for detecting temporal ambiguity using zero-shot and few-shot approaches.
Degradation-Guided One-Step Image Super-Resolution with Diffusion Priors
Venue: arXiv cs.CV 2024
Year: 2024

Diffusion-based image super-resolution (SR) methods have achieved remarkable success by leveraging large pre-trained text-to-image diffusion models as priors. However, these methods still face two challenges: the requirement for dozens of sampling steps to achieve satisfactory results, which limits efficiency in real scenarios, and the neglect of degradation models, which are critical auxiliary information in solving the SR problem. In this work, we introduced a novel one-step SR model, which significantly addresses the efficiency issue of diffusion-based SR methods. Unlike existing fine-tuning strategies, we designed a degradation-guided Low-Rank Adaptation (LoRA) module specifically for SR, which corrects the model parameters based on the pre-estimated degradation information from low-resolution images. This module not only facilitates a powerful data-dependent or degradation-dependent SR model but also preserves the generative prior of the pre-trained diffusion model as much as possible. Furthermore, we tailor a novel training pipeline by introducing an online negative sample generation strategy. Combined with the classifier-free guidance strategy during inference, it largely improves the perceptual quality of the super-resolution results. Extensive experiments have demonstrated the superior efficiency and effectiveness of the proposed model compared to recent state-of-the-art methods.
Parameter-efficient Bayesian Neural Networks for Uncertainty-aware Depth Estimation
Venue: arXiv cs.CV 2024
Year: 2024

State-of-the-art computer vision tasks, like monocular depth estimation (MDE), rely heavily on large, modern Transformer-based architectures. However, their application in safety-critical domains demands reliable predictive performance and uncertainty quantification. While Bayesian neural networks provide a conceptually simple approach to serve those requirements, they suffer from the high dimensionality of the parameter space. Parameter-efficient fine-tuning (PEFT) methods, in particular low-rank adaptations (LoRA), have emerged as a popular strategy for adapting large-scale models to down-stream tasks by performing parameter inference on lower-dimensional subspaces. In this work, we investigate the suitability of PEFT methods for subspace Bayesian inference in large-scale Transformer-based vision models. We show that, indeed, combining BitFit, DiffFit, LoRA, and CoLoRA, a novel LoRA-inspired PEFT method, with Bayesian inference enables more robust and reliable predictive performance in MDE.
Blox-Net: Generative Design-for-Robot-Assembly Using VLM Supervision, Physics Simulation, and a Robot with Reset
Venue: arXiv cs.RO 2024
Year: 2024

Generative AI systems have shown impressive capabilities in creating text, code, and images. Inspired by the rich history of research in industrial ''Design for Assembly'', we introduce a novel problem: Generative Design-for-Robot-Assembly (GDfRA). The task is to generate an assembly based on a natural language prompt (e.g., ''giraffe'') and an image of available physical components, such as 3D-printed blocks. The output is an assembly, a spatial arrangement of these components, and instructions for a robot to build this assembly. The output must 1) resemble the requested object and 2) be reliably assembled by a 6 DoF robot arm with a suction gripper. We then present Blox-Net, a GDfRA system that combines generative vision language models with well-established methods in computer vision, simulation, perturbation analysis, motion planning, and physical robot experimentation to solve a class of GDfRA problems with minimal human supervision. Blox-Net achieved a Top-1 accuracy of 63.5% in the ''recognizability'' of its designed assemblies (eg, resembling giraffe as judged by a VLM). These designs, after automated perturbation redesign, were reliably assembled by a robot, achieving near-perfect success across 10 consecutive assembly iterations with human intervention only during reset prior to assembly. Surprisingly, this entire design process from textual word (''giraffe'') to reliable physical assembly is performed with zero human intervention.
Exploring the Boundaries of Content Moderation in Text-to-Image Generation
Venue: arXiv cs.CY 2024
Year: 2024

This paper analyzes the community safety guidelines of five text-to-image (T2I) generation platforms and audits five T2I models, focusing on prompts related to the representation of humans in areas that might lead to societal stigma. While current research primarily focuses on ensuring safety by restricting the generation of harmful content, our study offers a complementary perspective. We argue that the concept of safety is difficult to define and operationalize, reflected in a discrepancy between the officially published safety guidelines and the actual behavior of the T2I models, and leading at times to over-censorship. Our findings call for more transparency and an inclusive dialogue about the platforms' content moderation practices, bearing in mind their global cultural and social impact.
Optimizing Control Strategies for Wheeled Mobile Robots Using Fuzzy Type I and II Controllers and Parallel Distributed Compensation
Venue: arXiv cs.RO 2024
Year: 2024

Adjusting the control actions of a wheeled robot to eliminate oscillations and ensure smoother motion is critical in applications requiring accurate and soft movements. Fuzzy controllers enable a robot to operate smoothly while accounting for uncertainties in the system. This work uses fuzzy theories and parallel distributed compensation to establish a robust controller for wheeled mobile robots. The use of fuzzy logic type I and type II controllers are covered in the study, and their performance is compared with a PID controller. Experimental results demonstrate that fuzzy logic type II outperforms type I and the classic controller. Further, we deploy parallel distributed compensation, sector of nonlinearity, and local approximation strategy in our design. These strategies help analyze the stability of each rule of the fuzzy controller separately and map the if-then rules of the fuzzy box into parallel distributed compensation using Linear Matrix Inequalities (LMI) analysis. Also, they help manage the uncertainty flow in the equations that exist in the kinematic model of a robot. Last, we propose a Bezier curve to represent the different pathways for the wheeled mobile robot.
A Multiple-Fill-in-the-Blank Exam Approach for Enhancing Zero-Resource Hallucination Detection in Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) often fabricate a hallucinatory text. Several methods have been developed to detect such text by semantically comparing it with the multiple versions probabilistically regenerated. However, a significant issue is that if the storyline of each regenerated text changes, the generated texts become incomparable, which worsen detection accuracy. In this paper, we propose a hallucination detection method that incorporates a multiple-fill-in-the-blank exam approach to address this storyline-changing issue. First, our method creates a multiple-fill-in-the-blank exam by masking multiple objects from the original text. Second, prompts an LLM to repeatedly answer this exam. This approach ensures that the storylines of the exam answers align with the original ones. Finally, quantifies the degree of hallucination for each original sentence by scoring the exam answers, considering the potential for \emph{hallucination snowballing} within the original text itself. Experimental results show that our method alone not only outperforms existing methods, but also achieves clearer state-of-the-art performance in the ensembles with existing methods.
XDC Gasless Subnet: Gasless Subnet Staking dApp for XDC Network
Venue: arXiv cs.CR 2024
Year: 2024

With a delegated proof-of-stake (XDPoS) consensus mechanism, the XDC Network is an enterprise-focused blockchain platform that combines the strength of public and private blockchains to provide quick transaction times, low energy consumption, and economical gas fees. XDC is designed for interoperability and supports decentralized apps (dApps) and integrates smoothly with financial systems. It is perfect for trade financing and tokenisation of physical assets because of its emphasis on security and scalability. However, there are a few critical issues that hamper wider acceptance and usability for certain high-frequency applications. This whitepaper introduces a novel and enthralling dApp for establishing a gasless subnet in which mainnet XDC can be staked to spin off a subnet that functions similarly to a non-crypto network, accepting currency fees on the XDC network. This would allow users to stake their tokens without incurring gas fees making the staking process more efficient, cost-effective, and simultaneously enhancing scalability. Performance evaluation of the dApp shows promising results in terms of throughput, latency, scalability, security, and cost efficiency. The use cases and applications of this approach along with challenges and ensuing solutions are included.